SE541726C2 - Method and system for facilitating assistance of autonomous vehicles - Google Patents
Method and system for facilitating assistance of autonomous vehiclesInfo
- Publication number
- SE541726C2 SE541726C2 SE1751155A SE1751155A SE541726C2 SE 541726 C2 SE541726 C2 SE 541726C2 SE 1751155 A SE1751155 A SE 1751155A SE 1751155 A SE1751155 A SE 1751155A SE 541726 C2 SE541726 C2 SE 541726C2
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- Sweden
- Prior art keywords
- assistance
- vehicle
- network
- vehicles
- central unit
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000004891 communication Methods 0.000 claims description 89
- 230000008569 process Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 239000000446 fuel Substances 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/40—Control within particular dimensions
- G05D1/43—Control of position or course in two dimensions
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention relates to a method for facilitating assistance of autonomous vehicles. A network (N) of autonomous vehicles (V1, V2, V3, V4, V5, V6) is provided. Said network comprises a central unit (100). Said method comprises communicating, to said central unit, from vehicles of said network, their assistance abilities and their current positions; and communicating, to said central unit, from vehicles within said network, their problems requiring assistance and their current positions. The method comprises determining, based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance, if one or more vehicles having required assistance ability exists within said network; and if so, ordering one of said vehicles having required assistance ability to assist said vehicle having the problem.The present invention also relates to a system for facilitating assistance of autonomous vehicles.
Description
METHOD AND SYSTEM FOR FACILITATING ASSISTANCE OF AUTONOMOUS VEHICLES TECHNICAL FIELD The invention relates to a method for facilitating assistance of autonomous vehicles according to the preamble of claim 1. The invention also relates to a system for facilitating assistance of autonomous vehicles.
BACKGROUND ART There are situations where vehicles are affected by problems forcing them to stop at unwanted places. That fact is as valid today, with most vehicles manually driven, as it likely will be with an increasing amount of autonomous vehicles entering the roads. If a manually driven vehicle breaks down on the road the driver may hope to get assistance from a random road user. The driver of the manually driven vehicle also in most situations has the possibility to call for assistance. If the vehicle breaking down is an autonomous vehicle, there is no driver that can solve the situation. A vehicle stopping and potentially blocking a road due to an unforeseen vehicle failure is highly undesired and may pose a safety threat to other road users.
There is thus a need for facilitating assistance of autonomous vehicles.
OBJECTS OF THE INVENTION An object of the present invention is to provide a method for facilitating assistance of autonomous vehicles which is easy and efficient.
Another object of the present invention is to provide a system for facilitating assistance of autonomous vehicles which is easy and efficient.
SUMMARY OF THE INVENTION These and other objects, apparent from the following description, are achieved by a method and a system as set out in the appended independent claims. Preferred embodiments of the method and the system are defined in appended dependent claims.
Specifically an object of the invention is achieved by a method for facilitating assistance of autonomous vehicles. A network of autonomous vehicles is provided. Said network comprises a central unit, wherein said autonomous vehicles are configured to communicate with said central unit of said network by means of communication means. Said method comprises the step of communicating, to said central unit, from vehicles of said network, their assistance abilities and their current positions. Said method also comprises the step of communicating, to said central unit, from vehicles within said network, their problems requiring assistance and their current positions. The method comprises the step of determining, based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance, if one or more vehicles having required assistance ability exists within said network; and if so, choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance.
Hereby assistance of autonomous vehicles may be performed in an easy and efficient way in that a suitable vehicle having required assistance ability, i.e. is suitable for assisting the vehicle having reported problems requiring assistance is chosen based on relevant information so that unnecessary assistance, double assistance or assistance of an non-suitable vehicle may be avoided.
A problem of an autonomous vehicle within said network requiring assistance may be any kind of problem such as a problem requiring towing assistance, a problem related to the vehicle having run out of fuel, battery requiring recharge, etc.
Assistance ability of an autonomous vehicle within said network may be related to a particular problem such as towing assistance, refilling of fuel, recharging of battery, etc.
The step of communicating, to said central unit, from vehicles of said network, their assistance abilities and their current positions is performed intermittently so that said central unit intermittently, e.g. essentially continuously/on a regular basis, will be informed of abilities of said autonomous vehicles and their positions and changes of abilities and positions.
The step of communicating, to said central unit, from vehicles of said network, their assistance abilities and their current positions is performed within said communication means and by means of communication units on board the respective autonomous vehicle.
The step of communicating, to said central unit, from vehicles within said network, their problems requiring assistance and their current positions is performed within said communication means and by means of said communication units on board the respective autonomous vehicle.
The step of determining, based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance, if one or more vehicles having required assistance ability exists within said network is arranged to be performed by determining means of said central unit. Said determining means for determining if one or more vehicles having required assistance ability exists within said network is arranged to process said communicated information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance so as to determine if one or more vehicles having required assistance ability exists within said network.
The step of choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance is arranged to be performed by choosing means for choosing one of said one or more determined vehicles having required assistance ability. Said choosing means is according to an embodiment arranged in said central control unit and is arranged to process information regarding vehicles having required assistance ability for choosing the most suitable vehicle, which may be the vehicle closest to the autonomous vehicle having problem requiring assistance.
According to an embodiment the method further comprises the steps of: communicating, to said central unit, from said chosen vehicle, whether said chosen vehicle has the ability to perform said ordered assistance; and, if said chosen vehicle communicates non-ability to perform said ordered assistance, choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance. By thus having said chosen vehicle communicating, i.e. confirming or denying ability to assist, unnecessary use of a vehicle and efficient change to a suitable vehicle for the particular assistance is obtained. A non-ability may be due to change of ability for some reason such as change of assignment, assistance of other autonomous vehicle, change of ability to assist for the particular problem said vehicle having problem requiring assistance has communicated.
The step of communicating, to said central unit, from said chosen vehicle, whether said chosen vehicle has the ability to perform said ordered assistance is performed within said communication means and by means of the communication unit on board the chosen autonomous vehicle.
The step of choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance is arranged to be performed by said choosing means for choosing one of said one or more determined vehicles having required assistance ability.
According to an embodiment the method further comprises the steps of: communicating, to said central unit, from said chosen vehicle, whether said chosen vehicle has successfully delivered said ordered assistance; and, if not, determining, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network, and, if so, choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance. By thus having said chosen vehicle communicating, i.e. confirming or denying, whether it has successfully delivered said ordered assistance relevant information of assistance ability of the chosen vehicle for the particular problem is obtained. By further determining if it is possible to solve the problem with a vehicle within the network unnecessary use of a vehicle may be avoided and efficient change to a suitable vehicle for the particular assistance may be obtained.
The step of communicating, to said central unit, from said chosen vehicle, whether said chosen vehicle has successfully delivered said ordered assistance is performed within said communication means and by means of the communication unit on board the chosen autonomous vehicle.
The step of determining, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network if said chosen vehicle has not successfully delivered said ordered assistance is arranged to be performed by determination means arranged to determine whether it is possible to solve the problem by means of a vehicle comprised by said network.
The step of choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance is arranged to be performed by said choosing means for choosing one of said one or more determined vehicles having required assistance ability.
According to an embodiment the method further comprises the step of storing, within said network, communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances. By thus storing communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances information regarding performance, problems of autonomous vehicles of said network etc. may advantageously be used for diagnosing and as a basis for learning about performance regarding determining and choosing vehicles having required assistance ability.
The step of storing, within said network, communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances is arranged to be performed by means of storage means within said network. Said storage means is according to an embodiment comprised in said central unit. Said storage means may be any suitable storage means for storing data such as a computer, server unit, a so called cloud or the like.
According to an embodiment the method comprises the step of diagnosing performance of communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances based on said stored information of communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances.
According to an embodiment of the method the step of determining if one or more vehicles having required assistance ability exists within said network, is performed taking said stored information into account. By thus performing the step of determining if one or more vehicles having required assistance ability exists within said network taking said stored information into account performance regarding determining and choosing vehicles having required assistance ability may be improved.
Specifically an object of the invention is achieved by a system for facilitating assistance of autonomous vehicles. The system is arranged to utilize a network of autonomous vehicles. Said network comprises a central unit. Said autonomous vehicles are configured to communicate with said central unit of said network by means of communication means. Said communication means comprises communication units of the respective autonomous vehicle. Vehicles of said network are arranged to communicate by means of their communication units, to said central unit, their assistance abilities and their current positions. Vehicles of said network being arranged to communicate by means of their communication unit, to said central unit, their problems requiring assistance and their current positions. Said system comprises means for determining, based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance, if one or more vehicles having required assistance ability exists within said network. Said system comprises means for choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance if one or more vehicles having required assistance ability was determined to exist within said network.
According to an embodiment of the system said chosen vehicle is arranged to communicate by means of its communication unit, to said central unit, whether said chosen vehicle has the ability to perform said ordered assistance; and means for choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance if said chosen vehicle communicates non-ability to perform said ordered assistance.
According to an embodiment of the system said chosen vehicle is arranged to communicate by means of its communication unit, to said central unit, whether said chosen vehicle has successfully delivered said ordered assistance; and, if not, means for determining, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network, and, if so, means for choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance.
According to an embodiment the system further comprises storage means arranged to store, within said network, communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances.
According to an embodiment of the system the means for determining if one or more vehicles having required assistance ability exists within said network, is arranged to be performed taking said stored information into account.
The system for facilitating assistance of autonomous vehicles is adapted to perform the methods as set out herein.
The system according to the invention has the advantages according to the corresponding method claims.
Specifically an object of the invention is achieved by a vehicle comprising a system as set out herein.
BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of the present invention reference is made to the following detailed description when read in conjunction with the accompanying drawings, wherein like reference characters refer to like parts throughout the several views, and in which: Fig. 1 schematically illustrates a side view of a vehicle according to the present invention; Fig. 2 schematically illustrates a network of autonomous vehicles according to an embodiment of the present invention; Fig. 3 schematically illustrates a block diagram of a system for facilitating assistance of autonomous vehicles according to an embodiment of the present invention; and Fig. 4 schematically illustrates a block diagram of a method for facilitating assistance of autonomous vehicles according to an embodiment of the present invention.
DETAILED DESCRIPTION Hereinafter the term “link” refers to a communication link which may be a physical connector, such as an optoelectronic communication wire, or a nonphysical connector such as a wireless connection, for example a radio or microwave link.
Fig. 1 schematically illustrates a side view of an autonomous vehicle V according to the present invention. The exemplified autonomous vehicle V is a commercial vehicle in the shape of a truck. The vehicle according to the present invention could be any suitable autonomous vehicle such as a bus or a car. The vehicle V is configured to be part of a network of autonomous vehicles such as the network N schematically illustrated in fig. 2. The autonomous vehicle V comprises means for communicating within said network.
Fig. 2 schematically illustrates a network N of autonomous vehicles V1, V2, V3, V4, V5, V6 according to an embodiment of the present invention.
The network N of autonomous vehicles according to the present invention may comprise any suitable number of autonomous vehicles V1, ..., Vn, where “n” is a natural number. Fig. 2 is just an example and the network N illustrated in fig. 2 may comprise any suitable number of autonomous vehicles, i.e. not all autonomous vehicles of said network N may be shown in fig. 2.
Said network N comprises a central unit 100.
Said central unit 100 may comprise any suitable central unit for facilitating assistance of autonomous vehicles. Said central unit 100 may comprise a control arrangement which may comprise one or more electronic control units, processing units, computers, server units or the like for control, communication, processing and/or storing. Said central unit 100 may comprise or be comprised of a so called cloud for storage, processing and communication.
Said central unit 100 comprises communication means CM. Said communication means CM is arranged for communication with autonomous vehicles V1, V2, V3, V4, V5, V6 of said network N.
Said autonomous vehicles V1, V2, V3, V4, V5, V6 are configured to communicate with said central unit 100 of said network N. Said autonomous vehicles V1, V2, V3, V4, V5, V6 comprises communication means for communication with said central unit 100.
Said communication means CM is thus, via links L1a, L2a, L3a, L4a, L5a, L6a, arranged to receive signals representing communication data from autonomous vehicles V1, V2, V3, V4, V5, V6 of said network N.
Said communication means CM is thus, via links L1b, L2b, L3b, L4b, L5b, L6b, arranged to send signals representing communication data to autonomous vehicles V1, V2, V3, V4, V5, V6 of said network N.
Said central unit 100 comprises processing means PM. Said processing means PM is arranged to process data from said autonomous vehicles V1, V2, V3, V4, V5, V6 of said network N. Said processing means PM is arranged to process data to said autonomous vehicles V1, V2, V3, V4, V5, V6 of said network N.
Said central unit 100 comprises storage means SM. Said storage means SM is arranged to store data from said autonomous vehicles V1, V2, V3, V4, V5, V6 of said network N. Said storage means SM is arranged to store data to said autonomous vehicles V1, V2, V3, V4, V5, V6 of said network N.
Vehicles of said network are, by means of communication means on board the respective vehicle, arranged to communicate, to said central unit 100, their assistance abilities and their current positions.
Vehicles of said network are, by means of communication means on board the respective vehicle, arranged to communicate, to said central unit 100, their problems requiring assistance and their current positions.
In the example in fig. 2 vehicles V2, V3, V4, V5, V6 of said network N are, by means of communication means on board the respective vehicle V2, V3, V4, V5, V6, communicating, to said central unit 100, via links L2a, L3a, L4a, L5a, L6a, their assistance abilities and their current positions.
In the example in fig. 2 a vehicle V1 of said network N is, by means of communication means on board the vehicle V1, communicating, to said central unit 100, via a link L1a, its problem requiring assistance and its current position.
Said central unit 100 of said network N is arranged to determine, based on information regarding assistance abilities and current positions of vehicles V2, V3, V4, V5, V6 within said network N and problem requiring assistance and current position of said vehicle V1 requiring assistance, if one or more vehicles having required assistance ability exists within said network. Thus, said central unit 100 is arranged to process by means of said process means PM information regarding assistance abilities and current positions of vehicles V2, V3, V4, V5, V6 within said network N and problem requiring assistance and current position of said vehicle V1 requiring assistance for determining if one or more vehicles having required assistance ability exists within said network.
If one or more vehicles having required assistance ability was determined to exist within said network N, said central unit 100 of said network N is arranged to choose and order one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance if one or more vehicles having required assistance ability was determined to exist within said network. Thus, according to an embodiment said processing means PM is arranged to determine the most suitable vehicle based on assistance ability for the current problem and distance to said vehicle V1 requiring assistance. Said communication means PM is then arranged to send an order to said determined vehicle via a link.
Said storage means SM of said central unit 100 is arranged to store communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances.
Fig. 3 schematically illustrates a block diagram of a system I for facilitating assistance of autonomous vehicles according to an embodiment of the present invention.
Said network comprises a central unit 100.
Said central unit 100 may comprise any suitable central unit for facilitating assistance of autonomous vehicles. Said central unit 100 may comprise a control arrangement which may comprise one or more electronic control units, processing units, computers, server units or the like for control, communication, processing and/or storing. Said central unit 100 may comprise or be comprised of a so called cloud for storage, processing and communication.
Said central unit 100 is arranged for communication with autonomous vehicles of said network.
Said autonomous vehicles are configured to communicate with said central unit 100 of said network. The network of autonomous vehicles according to the present invention may comprise any suitable number of autonomous vehicles.
Said system I comprises communication means 110 arranged for communication between said autonomous vehicles of said network and said central unit 100.
Said communication means 110 comprises communication means of said central unit 110. Said communication means 110 comprises communication units 112, 114, 116, ... of the respective autonomous vehicle. Said autonomous vehicles of said network thus each comprises communication means in the form of communication units 112, 114, 116, ... for communication with said central unit 100. Said communication means 110 is thus part of a vehicle-to-central-unit communication arrangement for communication between autonomous vehicles of said network and said central unit 100.
In fig. 3 only three communication units 112, 114, 116 are illustrated, but each autonomous vehicle of said network will have such communication means, i.e. a communication unit, for communication within said network and hence communication to said central unit 100. Thus, in fig. 3 a communication unit 112 of a first autonomous vehicle, a communication unit 114 of a second autonomous vehicle and a communication unit 116 of a third autonomous vehicle are shown for illustrative purposes.
The respective communication unit 112, 114, 116, ... of said autonomous vehicles may be comprised in or comprise a control arrangement such as an electronic control unit for said communication, i.e. sending and receiving data and where applicable processing data, such data comprising one or more of: data of position of vehicle, data of problem of the vehicle requiring assistance, data of ability to assist other vehicles, data for order to assist, data for result of assistance of other vehicle comprising data for successful assistance and data for failure to assist and reason for failure to assist. Such a control arrangement may also comprise storage means for storing such data.
Vehicles of said network are arranged to communicate by means of their communication units 112, 114, 116, ..., to said central unit 100, their assistance abilities and their current positions. Thus, said communication units 112, 114, 116, ... of said autonomous vehicles are arranged to communicate, to said central unit 100, their assistance abilities and their current positions for communication with said central unit 100.
Vehicles of said network are arranged to communicate by means of their communication unit 112, 114, 116, ..., to said central unit 100, their problems requiring assistance and their current positions. Thus said communication units 112, 114, 116, ... of said autonomous vehicles are arranged to communicate, to said central unit 100, their problems requiring assistance and their current positions.
Thus, said system I comprises communication means 110 arranged to communicate, to said central unit 100, from vehicles of said network, their assistance abilities and their current positions.
Thus, said system I comprises communication means 110 arranged to communicate, to said central unit 100, from vehicles within said network, their problems requiring assistance and their current positions.
Said system I comprises means 120 for determining if one or more vehicles having required assistance ability exists within said network based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance. Said means 120 is according to an embodiment comprised in said central unit 100.
Said means 120 is arranged to process said communicated information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance so as to determine if one or more vehicles having required assistance ability exists within said network.
Said system I comprises means 130 for choosing and ordering one of one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance.
Said means 130 for choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance comprises means 132 for choosing one of said one or more determined vehicles.
Said means 130 for choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance comprises means 134 for ordering one of said one or more determined vehicles to assist said vehicle having the problem requiring assistance.
Said means 130 for choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance is according to an embodiment comprised in said central unit 100.
According to an embodiment of the system I said chosen vehicle is arranged to communicate by means of its communication unit, to said central unit 100, whether said chosen vehicle has the ability to perform said ordered assistance.
Said means 130 for choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance is arranged to choose and order another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance if said chosen vehicle communicates non-ability to perform said ordered assistance.
The system I thus comprises means 130 for choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance if said chosen vehicle communicates non-ability to perform said ordered assistance.
According to an embodiment of the system I said chosen vehicle is arranged to communicate by means of its communication unit, to said central unit 100, whether said chosen vehicle has successfully delivered said ordered assistance.
The system I comprises, if said chosen vehicle did not successfully deliver said ordered assistance, means 140 for determining, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network.
Said means 130 for choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance is arranged to choose and order another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance if said chosen vehicle did not successfully deliver said ordered assistance, and it was determined, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network.
The system I thus comprises means 130 for choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance if said chosen vehicle did not successfully deliver said ordered assistance, and it was determined, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network.
According to an embodiment the system I further comprises storage means 150 arranged to store, within said network, communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances.
According to an embodiment of the system the means 120 for determining if one or more vehicles having required assistance ability exists within said network, is arranged to take said stored information into account. The means 120 for determining if one or more vehicles having required assistance ability exists within said network, is thus arranged to process said stored information so as to obtain additional information for determining if one or more vehicles having required assistance ability exists within said network.
The central unit 100 is operably connected to communication units 112, 114, 116, ... of autonomous vehicles of said network via a links 12a, 14a, 16a. The central unit 100 is via the links 12a, 14a, 16a arranged to receive signals from the respective communication units 112, 114, 116 of said vehicles representing data about assistance abilities of the respective vehicle and data of current position for the respective vehicle. The central unit 100 is via one or more of said links 12a, 14a, 16a further arranged to receive signals from said communication units 112, 114, 116 representing data about problems requiring assistance from vehicle/vehicles of said network requiring assistance and data of current position for the vehicle/vehicles requiring assistance.
The central unit 100 is operably connected to said means 120 for determining if one or more vehicles having required assistance ability exists within said network based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance via a link 20a. The central unit 100 is via the link 20a arranged to send a signal to the means 120 representing data regarding assistance abilities and current positions of vehicles within said network.
The central unit 100 is operably connected to said means 120 for determining if one or more vehicles having required assistance ability exists within said network based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance via a link 20b. The central unit 100 is via the link 20b arranged to send a signal to the means 120 representing data regarding problem requiring assistance and current position of a vehicle requiring assistance.
The central unit 100 is operably connected to said means 120 for determining if one or more vehicles having required assistance ability exists within said network based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance via a link 20d. The central unit 100 is via the link 20d arranged to receive a signal from the means 120 representing data of whether one or more vehicles having required assistance ability exists within said network and if so, data of which vehicles and data of their current positions.
The central unit 100 is operably connected to means 130 for choosing and ordering one of one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance via a link 30. The central unit 100 is via the link 30 arranged to send a signal to the means 130 representing data of one or more vehicles having required assistance ability within said network and if data of their current positions.
The central unit 100 is operably connected to means 134 for ordering one of said one or more determined vehicles to assist said vehicle having the problem requiring assistance via a link 34. The central unit 100 is via the link 34 arranged to receive a signal from the means 134 representing data for ordering the chosen one of said one or more determined vehicles to assist said vehicle having the problem requiring assistance.
The central unit 100 is operably connected to the communication unit of the autonomous vehicle chosen to assist said autonomous vehicle having problem requiring assistance via a link. The central unit 100 is via the link arranged to send a signal to the communication unit of said chosen vehicle representing data of order to assist said vehicle having the problem requiring assistance.
The central unit 100 is operably connected to the means 140 for determining, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network via a link 40a. The central unit 100 is via the link arranged to send a signal to the means 140 representing data of nonsuccessful deliverance of assistance from said chosen vehicle.
The central unit 100 is operably connected to the means 140 for determining, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network via a link 40b. The central unit 100 is via the link arranged to receive a signal from the means 140 representing data of whether it is possible to solve the problem.
The central unit 100 is operably connected to the means 130 for choosing and ordering one of one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance via a link 30. The central unit 100 is via the link 30 arranged to send a signal to the means 130 representing data of another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance due to said chosen vehicle not being able to successfully deliver said ordered assistance.
The central unit 100 is operably connected to storage means 150 via a link 50a. The central unit 100 is via the link 50a arranged to send a signal to the means 150 representing data for communicated information regarding assistance abilities.
The central unit 100 is operably connected to storage means 150 via a link 50b. The central unit 100 is via the link 50b arranged to send a signal to the means 150 representing data for abilities to perform ordered assistances.
The central unit 100 is operably connected to storage means 150 via a link 50c. The central unit 100 is via the link 50c arranged to send a signal to the means 150 representing data for deliverances of ordered assistances.
The central unit 100 is operably connected to storage means 150 via a link 50d. The central unit 100 is via the link 50d arranged to receive a signal from the means 150 representing data for stored information of communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances.
The central unit 100 is operably connected to said means 120 for determining if one or more vehicles having required assistance ability exists within said network based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance via a link 20c. The central unit 100 is via the link 20c arranged to send a signal to the means 120 representing data for stored information of communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances.
Fig. 4 schematically illustrates a block diagram of a method for facilitating assistance of autonomous vehicles according to an embodiment of the present invention.
A network of autonomous vehicles is provided. Said network comprises a central unit. Said autonomous vehicles are configured to communicate with said central unit of said network.
According to the embodiment the method for facilitating assistance of autonomous vehicles comprises a step S1A. In this step it is communicated to said central unit from vehicles within said network their assistance abilities and their current positions; communicating.
According to the embodiment the method for facilitating assistance of autonomous vehicles comprises a step S1 B. In this step it is communicated to said central unit from vehicles within said network their problems requiring assistance and their current positions.
The method step S1A may be performed intermittently and the method step S1 B may be performed any time an autonomous vehicle of the network has problems requiring assistance.
According to the embodiment the method for facilitating assistance of autonomous vehicles comprises a step S2. In this step it is determined, based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance, if one or more vehicles having required assistance ability exists within said network.
According to the embodiment the method for facilitating assistance of autonomous vehicles comprises a step S3. In this step, if it is determined if one or more vehicles having required assistance ability exists within said network, one of said one or more determined vehicles having required assistance ability is chosen and ordered to assist said vehicle having the problem requiring assistance.
If no autonomous vehicles having required assistance is determined to exist within said network the step S2 may according to an embodiment be repeated during a desired, e.g. predetermined, period of time. It may be decided, e.g. based on problem of said autonomous vehicle, to take another action such as contact assistance outside of said network and/or reporting that no help was available to said central unit and/or external unit outside of said network.
A problem of an autonomous vehicle within said network requiring assistance may be any kind of problem such as a problem requiring towing assistance, a problem related to the vehicle having run out of fuel, battery requiring recharge, etc.
Assistance ability of an autonomous vehicle within said network may be related to a particular problem such as towing assistance, refilling of fuel, recharging of battery, etc.
The step of communicating, to said central unit, from vehicles of said network, their assistance abilities and their current positions is performed intermittently so that said central unit intermittently, e.g. essentially continuously/on a regular basis, will be informed of abilities of said autonomous vehicles and their positions and changes of abilities and positions.
The step of communicating, to said central unit, from vehicles of said network, their assistance abilities and their current positions is performed within said communication means and by means of communication units on board the respective autonomous vehicle.
The step of communicating, to said central unit, from vehicles within said network, their problems requiring assistance and their current positions is performed within said communication means and by means of said communication units on board the respective autonomous vehicle.
The step of determining, based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance, if one or more vehicles having required assistance ability exists within said network is arranged to be performed by determining means of said central unit. Said determining means for determining if one or more vehicles having required assistance ability exists within said network is arranged to process said communicated information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of a vehicle requiring assistance so as to determine if one or more vehicles having required assistance ability exists within said network.
The step of choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance is arranged to be performed by choosing means for choosing one of said one or more determined vehicles having required assistance ability. Said choosing means is according to an embodiment arranged in said central control unit and is arranged to process information regarding vehicles having required assistance ability for choosing the most suitable vehicle, which may be the vehicle closest to the autonomous vehicle having problem requiring assistance.
According to an embodiment the method further comprises the steps of: communicating, to said central unit, from said chosen vehicle, whether said chosen vehicle has the ability to perform said ordered assistance; and, if said chosen vehicle communicates non-ability to perform said ordered assistance, choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance.
A non-ability may be due to change of ability for some reason such as change of assignment, assistance of other autonomous vehicle, change of ability to assist for the particular problem said vehicle having problem requiring assistance has communicated.
The step of communicating, to said central unit, from said chosen vehicle, whether said chosen vehicle has the ability to perform said ordered assistance is performed within said communication means and by means of the communication unit on board the chosen autonomous vehicle.
The step of choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance is arranged to be performed by said choosing means for choosing one of said one or more determined vehicles having required assistance ability.
According to an embodiment the method further comprises the steps of: communicating, to said central unit, from said chosen vehicle, whether said chosen vehicle has successfully delivered said ordered assistance; and, if not, determining, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network, and, if so, choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance.
The step of communicating, to said central unit, from said chosen vehicle, whether said chosen vehicle has successfully delivered said ordered assistance is performed within said communication means and by means of the communication unit on board the chosen autonomous vehicle.
The step of determining, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network if said chosen vehicle has not successfully delivered said ordered assistance is arranged to be performed by determination means arranged to determine whether it is possible to solve the problem by means of a vehicle comprised by said network.
The step of choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance is arranged to be performed by said choosing means for choosing one of said one or more determined vehicles having required assistance ability.
According to an embodiment the method further comprises the step of storing, within said network, communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances.
The step of storing, within said network, communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances is arranged to be performed by means of storage means within said network. Said storage means is according to an embodiment comprised in said central unit. Said storage means may be any suitable storage means for storing data such as a computer, server unit, a so called cloud or the like.
According to an embodiment the method comprises the step of diagnosing performance of communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances based on said stored information of communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances.
According to an embodiment of the method the step of determining if one or more vehicles having required assistance ability exists within said network, is performed taking said stored information into account.
The foregoing description of the preferred embodiments of the present invention has been provided for the purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in the art. The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, thereby enabling others skilled in the art to understand the invention for various embodiments and with the various modifications as are suited to the particular use contemplated.
Claims (10)
1. A method for facilitating assistance of an autonomous vehicle affected by a problem forcing the autonomous vehicle to stop at an unwanted place, characterized by providing a network (N) of autonomous vehicles (V1, V2, V3, V4, V5, V6), said network comprising a central unit (100), wherein said autonomous vehicles are configured to communicate with said central unit (100) of said network by means of communication means (110), said method comprising the steps of: - communicating, to said central unit (100), from vehicles of said network (N), their assistance abilities and their current positions; - communicating, to said central unit (100), from the autonomous vehicle within said network, the problem requiring assistance and the current position; - based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of the vehicle requiring assistance, determining by determining means (120) if one or more vehicles having required assistance ability exists within said network; and if so, - choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said vehicle having the problem requiring assistance.
2. A method according to claim 1, further comprising the steps of: communicating, to said central unit (100), from said chosen vehicle, whether said chosen vehicle has the ability to perform said ordered assistance; and, if said chosen vehicle communicates non-ability to perform said ordered assistance, choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance.
3. A method according to claim 1 or 2, further comprising the steps of: communicating, to said central unit (100), from said chosen vehicle, whether said chosen vehicle has successfully delivered said ordered assistance; and, if not, determining, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network, and, if so, choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance.
4. A method according to any of claims 1-3, further comprising the step of storing, within said network, communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances.
5. A method according to claim 4, wherein the step of determining if one or more vehicles having required assistance ability exists within said network, is performed taking said stored information into account.
6. A system (I) for facilitating assistance of an autonomous vehicle affected by a problem forcing the autonomous vehicle to stop at an unwanted place, characterized by a network (N) of autonomous vehicles (V1, V2, V3, V4, V5, V6), said network comprising a central unit (100), wherein said autonomous vehicles are configured to communicate with said central unit of said network by means of communication means (110), said communication means (110) comprising communication units (112, 114, 116) of the respective autonomous vehicle, a vehicle of said network being arranged to communicate by means of the communication unit (112, 114, 116), to said central unit (100), their assistance abilities and their current positions; the autonomous vehicle of said network being arranged to communicate by means of the communication unit (112, 114, 116), to said central unit (100), a problems requiring assistance and a current positions; and means (120) for determining, based on information regarding assistance abilities and current positions of vehicles within said network and problem requiring assistance and current position of the autonomous vehicle requiring assistance, if one or more vehicles having required assistance ability exists within said network; and, means (130) for choosing and ordering one of said one or more determined vehicles having required assistance ability to assist said autonomous vehicle having the problem requiring assistance.
7. A system according to claim 6, wherein said chosen vehicle is arranged to communicate by means of its communication unit (112, 114, 116), to said central unit (100), whether said chosen vehicle has the ability to perform said ordered assistance; and means (130) for choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance if said chosen vehicle communicates non-ability to perform said ordered assistance.
8. A system according to claim 6 or 7, wherein said chosen vehicle is arranged to communicate by means of its communication unit (112, 114, 116), to said central unit (100), whether said chosen vehicle has successfully delivered said ordered assistance; and, if not, means (140) for determining, based upon communicated information regarding the actual circumstances of said problem, whether it is possible to solve the problem by means of a vehicle comprised by said network, and, if so, means (130) for choosing and ordering another determined vehicle having required assistance ability to assist said vehicle having the problem requiring assistance.
9. A system according to any of claims 6-8, further comprising storage means (150) arranged to store, within said network, communicated information regarding assistance abilities, abilities to perform ordered assistances and deliverances of ordered assistances.
10. A system according to claim 9, wherein the means (120) for determining if one or more vehicles having required assistance ability exists within said network, is arranged to be performed taking said stored information into account.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1751155A SE541726C2 (en) | 2017-09-19 | 2017-09-19 | Method and system for facilitating assistance of autonomous vehicles |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE1751155A SE541726C2 (en) | 2017-09-19 | 2017-09-19 | Method and system for facilitating assistance of autonomous vehicles |
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| SE1751155A1 SE1751155A1 (en) | 2019-03-20 |
| SE541726C2 true SE541726C2 (en) | 2019-12-03 |
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| US8996224B1 (en) * | 2013-03-15 | 2015-03-31 | Google Inc. | Detecting that an autonomous vehicle is in a stuck condition |
| SE538920C2 (en) * | 2015-03-24 | 2017-02-14 | Scania Cv Ab | Device, method and system for an autonomous vehicle to drivepass a difficult or inappropriate road segment |
| US9600943B2 (en) * | 2015-07-28 | 2017-03-21 | Here Global B.V. | Rendering of a local assistance request |
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